해저보행로봇 크랩스터 CR200 프로토타입의 개발과 수중시험

Abstract

This paper reports the on-land and underwater test results of seabed walking robot Crabster CR200, which was conducted from June 24 to July 12, 2013 in Geoje South Sea Research Institute (SSRI) of KIOST. In the first underwater test, we verified 1) watertight of all the seal in thirty joints and pressure vessels, 2) identification of underwater topography and structures within 100m radius using high resolution scanning sonar on the top of CR200, 3) real-time identification of underwater objects within 10 meters-range using acoustic camera in front of CR200, 4) identification of objects by the combination of optical cameras and LED lamps, 5) underwater localization of CR200 using GPS and USBL, 6) gathering the environment data such as direction and velocities of current, Conductivity Temperature and Depth (CTD) data, 7) posture and walking control using six legs, 8) measuring and visualization of the underwater movement of CR200 using Attitude Heading Reference System.ified 1) watertight of all the seal in thirty joints and pressure vessels, 2) identification of underwater topography and structures within 100m radius using high resolution scanning sonar on the top of CR200, 3) real-time identification of underwater objects within 10 meters-range using acoustic camera in front of CR200, 4) identification of objects by the combination of optical cameras and LED lamps, 5) underwater localization of CR200 using GPS and USBL, 6) gathering the environment data such as direction and velocities of current, Conductivity Temperature and Depth (CTD) data, 7) posture and walking control using six legs, 8) measuring and visualization of the underwater movement of CR200 using Attitude Heading Reference System.